# build g2o
#cd ./thirdparty/g2o
#mkdir build
#cd build
#cmake ..
#make

# build this project
#cd ../../../build
#cmake ..
#make

cd ./build
cmake ..
make

# run ch3 
# gdb ../bin/run_kaist_eskf_gins -silent

# run ch4 test
# gdb ../bin/test_preintegration -silent

# run ch4
#gdb ../bin/run_gins_pre_integ -silent

#run ch4 kaist
#gdb ../bin/run_kaist_gins_pre_integ -silent

#run ch5 point load
#gdb ../bin/point_cloud_load_and_vis -silent
#run ch5 point bird eye
#gdb ../bin/pcd_to_bird_eye -silent
#run ch5 scan_to_range_image
#gdb ../bin/scan_to_range_image -silent

#run ch5 point test_nn
#gdb ../bin/test_nn -silent
#run ch5 point test_nn
#gdb ../bin/linear_fitting -silent

#run ch6 test_2dlidar_io
#gdb ../bin/test_2dlidar_io -silent
#run ch6 test_2d_icp_s2s
#gdb ../bin/test_2d_icp_s2s -silent
#run ch6 test_2d_icp_likelihood
#gdb ../bin/test_2d_icp_likelihood -silent
#run ch6 test_occupancy_grid
#gdb ../bin/test_occupancy_grid -silent
#run ch6 test_2d_mapping
#gdb ../bin/test_2d_mapping -silent

#run ch7 test_icp
#gdb ../bin/test_icp -silent
#run ch7 test_ndt_lo
#gdb ../bin/test_ndt_lo -silent
#run ch7 test_ndt_lo_eskf
#gdb ../bin/test_ndt_lo_eskf -silent
#run ch7 test_inc_ndt_lo
#gdb ../bin/test_inc_ndt_lo -silent
#run ch7 test_inc_ndt_lo
#gdb ../bin/test_feature_extraction -silent
#run ch7 test_loam_odom
#gdb ../bin/test_loam_odom -silent
#run ch7 test_loosely_lio
#gdb ../bin/test_loosely_lio -silent

#run ch8 test_lio_iekf
#gdb ../bin/test_lio_iekf -silent
#run ch8 test_lio_preinteg
#gdb ../bin/test_lio_preinteg -silent

#run ch9 run_frontend
#gdb --args ../bin/run_frontend --config_yaml ../config/mapping.yaml
#gdb --args ../bin/dump_map --pose_source=lidar
#gdb --args ../bin/run_optimization --stage=1
#gdb ../bin/run_loopclosure -silent
#gdb --args ../bin/run_optimization --stage=2
#gdb --args ../bin/dump_map --pose_source opti2
#gdb ../bin/run_mapping -silent
#gdb ../bin/split_map -silent

# run ch10 run_fusion_offline
gdb ../bin/run_fusion_offline -silent